19 0

Development of Geometrical Inverse Kinematics and Motion Planning Algorithm for a Redundant Robot Manipulator

Title
Development of Geometrical Inverse Kinematics and Motion Planning Algorithm for a Redundant Robot Manipulator
Other Titles
리던던트 로봇 매니퓰레이터를 위한 기하학적 역기구학과 모션플래닝 알고리즘 개발에 관한 연구
Author
이정민
Alternative Author(s)
Lee, Jeong Min
Advisor(s)
한창수
Issue Date
2008-02
Publisher
한양대학교
Degree
Master
Abstract
The manipulator, much higher intelligence and technology for realizing environment are required to carry objects in case the intelligent service robot assists or substitutes human works. The manipulator of them executes works gripping or carrying object at any position in various environments. The manipulator of household service robot should be able to accomplish the task carrying small thing, a glass and stationery. And human-friendly design reducing a possibility of danger is required to execute orders and reduce an unpleasant feeling. Also, motion of Robot manipulator should be able to reduce an unpleasant feeling by similar motion such as human’s arm and avoid a obstacle for carrying obstacle. This paper suggests geometrical inverse kinematics and motion planning algorithm about the redundant robot manipulator making use of human-friendly design and implementing human’s arm motions. We verified geometrical inverse kinematics and motion planning algorithm for avoiding obstacle by simulator and experiment.
URI
http://dcollection.hanyang.ac.kr/jsp/common/DcLoOrgPer.jsp?sItemId=000000051266https://repository.hanyang.ac.kr/handle/20.500.11754/147906
Appears in Collections:
GRADUATE SCHOOL[S](대학원) > MECHANICAL ENGINEERING(기계공학과) > Theses (Master)
Files in This Item:
There are no files associated with this item.
Export
RIS (EndNote)
XLS (Excel)
XML


qrcode

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.

BROWSE